CN102951150A - Lane keeping assist system using ultrasonic sensor and method thereof - Google Patents
Lane keeping assist system using ultrasonic sensor and method thereof Download PDFInfo
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- CN102951150A CN102951150A CN2012102989546A CN201210298954A CN102951150A CN 102951150 A CN102951150 A CN 102951150A CN 2012102989546 A CN2012102989546 A CN 2012102989546A CN 201210298954 A CN201210298954 A CN 201210298954A CN 102951150 A CN102951150 A CN 102951150A
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- lane
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- vehicle
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000000052 comparative effect Effects 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 description 7
- 238000001514 detection method Methods 0.000 description 5
- 208000035278 mandibuloacral dysplasia progeroid syndrome Diseases 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001915 proofreading effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/202—Steering torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/10—Path keeping
- B60Y2300/12—Lane keeping
Abstract
The invention relates to a lane keeping assist system using an ultrasonic sensor and a method thereof, which can judge whether a sensor distinguishes or not in some driving environments by making flexible use of a distance information signal outputted from the ultrasonic sensor between side objects, so that a stronger LKAS control is possible.
Description
Technical field
The present invention is that a kind of lane that relates to keeps ancillary system and method thereof, relates in more detail a kind of lane of ultrasonic transduter that uses and keeps ancillary system and method thereof.
Background technology
It is by detecting lane information and the vehicle position information that pick up camera provides from the lane that is installed on the vehicle that lane keeps ancillary system (Lane Keeping Assist System:LKAS), generate steering torque, the system that the assisting vehicle that makes vehicle not break away from lane travels.
LKAS in the past is the position that utilizes the error amount of the steering torque auxiliary quantity be communicated to column assist system (MDPS:Motor Driven Power Steering System) and the vehicle location in the road to correct the vehicle on road that travels.Namely, LKAS in the past receives the vehicle passed on by the pick up camera that is installed on the vehicle and the transverse distance between lane, the angular error of travelling to calculate in order to make vehicle not break away from the assisted diversion moment of torsion of lane, exports assisting vehicle to keep present lane by described MDPS the assisted diversion moment of torsion that calculates and travels.
But, such as LKAS in the past, when only using the single-sensor that consisted of by pick up camera to detect lane, may calculate wrong auxiliary torque because of the not detection of image sensor or error detection.When correcting the position of vehicle by the auxiliary torque of mistake, may make the driver feel heterogeneous sense.
In addition, correct among the LKAS in the past of lane at the single-sensor that only uses pick up camera to consist of, the wrong detection such as unidentified such as pick up camera as described under the specific vehicle-surroundings environment such as shade of backlight, gangway, tunnel, guardrail is occuring continually.
Summary of the invention
(technical matters that will solve)
Therefore, the object of the present invention is to provide a kind of lane with ultrasonic transduter to keep ancillary system to reduce to use by pick up camera and consist of single-sensor and the lane that occurs is corrected a mistake.
Another object of the present invention is to provide a kind of lane keeping method with ultrasonic transduter to reduce to use by pick up camera and consist of single-sensor and the lane that occurs is corrected a mistake.
(means of dealing with problems)
In order to reach aforesaid purpose, the lane of the use ultrasonic transduter of one side keeps ancillary system according to the present invention, comprising: image sensor section, and take vehicle front and generate the place ahead image; Lane identification judging part judges in the image of described the place ahead whether comprise described lane; The tunnel judging part, if the judged result of described lane identification part when not comprising described lane in the image of described the place ahead, utilizes the testing result of ultrasonic transduter to judge whether to enter the tunnel; Lane is estimated section, the judged result of described tunnel judging part, if be judged as described Vehicle Driving Cycle in the tunnel time, utilize measure by described ultrasonic transduter and tunnel-side between distance estimate distance between lane; The control torque calculating part calculates control torque by the end value that the lane section of estimating estimates; And the steering torque compensation section, add the steering torque of calculating in the described control torque that calculates and the column assist system, calculate the steering torque that compensates in order to control described Vehicular turn.
The lane keeping method of the use ultrasonic transduter of another side according to the present invention comprises: the step that judges whether to identify lane in the place ahead image that the pick up camera by vehicle obtains; According to the described judged result that whether identifies lane, utilize ultrasonic transduter to judge whether to enter the step in tunnel; According to whether entering the judged result in tunnel, if be judged as described Vehicle Driving Cycle in the tunnel time, utilize ultrasonic transduter to estimate the step of driving distance between centers of tracks; Calculate the step of control torque by the end value of the distance between the described lane of estimating; And utilize the steering torque of calculating in the described control torque compensation column assist system that calculates, with the steering torque of compensation as the basis make described vehicle do not break away from lane described vehicle turn to the control step.
The lane keeping method of use ultrasonic transduter of the present invention is characterized in that, the described step that enters the tunnel that judges whether comprises: the step that the super sonic of described ultrasonic transduter was delivered letters from the two sides of vehicle with the cycle of regulation; Deliver letters from the two sides of described vehicle the time that moment of reflecting and collecting mail consumes by described super sonic of delivering letters, calculate the step of the distance value between the side object of described vehicle; The comparison step of the described distance value that calculates and a reference value; And judge according to described comparative result whether described vehicle enters the step in tunnel.
In addition, the lane keeping method of use ultrasonic transduter of the present invention is characterized in that, the described step of judging whether vehicle enters the tunnel is during less than described a reference value, to judge that described vehicle has entered in the described tunnel at the described distance value that calculates.
In addition, the lane keeping method of use ultrasonic transduter of the present invention, it is characterized in that, after the step of the distance value between described side object of calculating vehicle, more comprise: judge whether the described distance value that calculates remains in the datum drift scope within fiducial time.
In addition, the lane keeping method of use ultrasonic transduter of the present invention is characterized in that, describedly judges whether vehicle enters in the step in tunnel, if when the described distance value that calculates does not keep in the datum drift scope, judge that described vehicles failed enters in the tunnel within fiducial time.
In addition, the lane keeping method of use ultrasonic transduter of the present invention, it is characterized in that, more comprise: the step of measuring the brightness of described vehicle-surroundings, the described step of judging whether vehicle enters the tunnel is to utilize the comparative result of the described distance value that calculates and a reference value and the peripheral brightness of described measurement, judges whether described vehicle enters the tunnel.
(effect of invention)
Keep ancillary system according to the lane of use ultrasonic transduter of the present invention, utilize ultrasonic transduter judge whether into/go out the tunnel, improve thus not detection or the error detection of the pick up camera that possesses in the LKAS system.
In addition, when in the vehicle that is equipped with intelligent parking ancillary system (SPAS:Smart Parking Assist System), using lane keeping system of the present invention, the ultrasonic transduter that can utilize vehicle itself to possess, thus when the system of realization, can add the separate hardware such as ultrasonic transduter, only by the design of software mode, do not need to add the required extra cost of hardware, therefore have very large fee cut effect.
Description of drawings
Fig. 1 is expression keeps the inner formation of ancillary system according to the lane of the use ultrasonic transduter of one embodiment of the invention block diagram.
Fig. 2 is that expression is according to the diagram of circuit of the lane keeping method of the use ultrasonic transduter of one embodiment of the invention.
The specific embodiment
With reference to the accompanying drawings to being described in detail according to one embodiment of the invention.Need to be careful during for the additional reference marks of the inscape among each figure, although be presented among the different figure about identical inscape, make as far as possible it have identical symbol.In addition, for the explanation of embodiments of the invention, when judgement thinks that may obscure main idea of the present invention to specifying of relevant well-known formation or function the time, description is omitted.
Fig. 1 is expression keeps the inner formation of ancillary system according to the lane of the use ultrasonic transduter of one embodiment of the invention block diagram.
With reference to Fig. 1, all keep ancillary system 100 and only utilize the system in the past of the single-sensor identification lane that is consisted of by image sensor different according to the car of the use ultrasonic transduter of one embodiment of the invention, except described image sensor, also utilize described ultrasonic transduter to identify described lane, and the control vehicle travel make it keep the lane identify.
For this reason, lane according to the use ultrasonic transduter of one embodiment of the invention keeps ancillary system 100 substantially to comprise: lane identification judging part 103, tunnel judging part 105, ultrasonic transduter 107, lane are estimated section 109 and control torque calculating part 111, more comprise in addition: image sensor section 101, steering swivel system (MDPS:Motor Driven Power Steering System) 113.
At first, described image sensor section 101 generates the formation of the place ahead image that comprises lane shown on the travel as the place aheads of taking vehicles, can be made of the image sensor of the described the place ahead of output image on the described lane identification judging part 103.
103 conducts of described lane identification judging part, whether judgement exists the formation of described lane (or no unidentified) in described the place ahead image of described image sensor section 101 inputs, from the image of described the place ahead with described lane as object extraction, utilize the pixel value of the pixel coordinate of the corresponding object that extracts to judge whether to exist lane.For example, the summation of the corresponding pixel value of described lane object is during less than a reference value, is judged as unidentifiedly in the image of described the place ahead to go out lane, and the form that this judged result is converted to signal or information outputs to described tunnel judging part 105.
Described tunnel judging part 105 if be judged as in the image of described the place ahead unidentifiedly when going out lane by described lane identification judging part 103, judges whether vehicle travels in the tunnel now.For this reason, described tunnel judging part 105 utilizes the testing result of described ultrasonic transduter 107 to judge whether described vehicle travels in the tunnel.Specifically, post a letter with specified period in the two sides of vehicle from described ultrasonic transduter 107.If now vehicle is to travel when tunnel internal, deliver letters in the described vehicle sidewall of described tunnel internal of the super sonic of finding in the two sides of described vehicle reflects and collects mail.At this moment, by to the distance value between the measurement object that reflects again time that moment of getting into the frame of mind for work consumes and calculate described vehicle.Whether enter the tunnel by the described vehicle of relatively judging between a reference value of this distance value that calculates and regulation.For example, the described distance value that calculates is judged as described vehicle and has entered the tunnel during less than described a reference value.At this moment, cannot be simple only judge that less than the fact of described a reference value described vehicle travels now at tunnel internal by the described distance value that calculates.Because although be in a flash, the ultrasonoscope that may reflect by the certain objects such as guardrail in the way of travelling of vehicle is calculated distance value.Therefore for more accurate, consider the running time of tunnel internal, the described distance value that calculates is less than described a reference value, detects than the little described distance value that calculates of described a reference value in the datum drift scope, remain on fiducial time when above, be judged as the state that enters the tunnel.In order better to improve reliability, can utilize in addition the peripheral brightness value that detects by the luminance sensor that itself possesses in the vehicle.That is, described brightness value can judge that vehicle is to travel at tunnel internal now when the Benchmark brightness value is following.
Lane is estimated section 109, according to the judged result of described tunnel judging part, if be judged as described Vehicle Driving Cycle in the tunnel time, utilizes the distance value to tunnel-side that measures by described ultrasonic transduter 107 to estimate distance between lane.
Control torque calculating part 111 is estimated the estimation results value of section 109 and is calculated control torque, and the control torque that calculates is sent to steering torque compensation section 115 according to described lane.
115 conducts of steering torque compensation section, calculate the formation of the correction steering torque of proofreading and correct in order to make vehicle maintenance lane in the tunnel, add the steering torque of calculating the described control torque that calculates that transmits from described control torque calculating part 111 and the column assist system (MDPS) 113, with it as exporting for the correction steering torque of controlling described Vehicular turn.
Fig. 2 be expression according to the diagram of circuit of the lane keeping method of the use ultrasonic transduter of one embodiment of the invention, for the understanding that helps to illustrate, can be with Fig. 1 reference.
With reference to Fig. 2, obtain the place ahead image S210 by the image sensor that is arranged on the vehicle.
Afterwards, by as the formation of above-mentioned vehicle identification judging part 103, judge whether to identify lane S220 in the place ahead image that the pick up camera by vehicle is obtained.
If the described judged result that whether identifies lane unidentified when going out (unidentified lane), utilizes ultrasonic transduter to judge whether to enter tunnel S230.If when identifying lane, get back to before the step S210 step after carrying out in order.
Afterwards, according to the described judged result that whether enters the tunnel, if be judged as when travelling in the tunnel, utilize described ultrasonic transduter estimate between lane apart from S240, calculate control torque S250 according to the distance between the described lane of estimating.
In addition, utilize the steering torque of calculating in the described control torque compensation column assist system that calculates, as the turning to of the described vehicle of base control, make described vehicle not break away from lane S260 the steering torque of compensation.
As mentioned above, only consider in the LKAS system in the past that the signal of image sensor extracts road information, therefore, lose lane or guardrail etc. is identified as lane in causing travelling because of the inaccuracy of image pickup signal, come the MDPS control torque of mis-calculate.
But, among the present invention because applied flexibly export in the ultrasonic transduter and the side object between the range information signal, in the part running environment, can judge the whether unidentified of image sensor, make thus the more strong LKAS control possibility that becomes.
Above explanation only is to schematically illustrate technological thought of the present invention, and the general technical staff of the technical field of the invention should be appreciated that can realize multiple modification and distortion in the situation that do not break away from own job characteristic range of the present invention.To open the embodiment that shows among the present invention and be in order to describe, rather than in order to limit technological thought of the present invention, the scope of technological thought of the present invention is not limited to such embodiment.Real technical protection scope of the present invention should be determined by appending claims, and all technological thoughts that should be interpreted as in the scope equal with it belong in the interest field of the present invention.
Claims (7)
1. lane keeping method that uses ultrasonic transduter comprises:
Judge whether to identify the step of lane in the place ahead image that pick up camera by vehicle obtains;
According to the described judged result that whether identifies lane, utilize ultrasonic transduter to judge whether to enter the step in tunnel;
According to whether entering the judged result in tunnel, if be judged as described Vehicle Driving Cycle in the tunnel time, utilize ultrasonic transduter to estimate the step of driving distance between centers of tracks;
Calculate the step of control torque by the end value of the distance between the described lane of estimating; And
Utilize the steering torque of calculating in the described control torque compensation column assist system that calculates, with the steering torque of compensation as the basis make described vehicle do not break away from lane described vehicle turn to the control step.
2. the lane keeping method of use ultrasonic transduter according to claim 1 is characterized in that, the described step that enters the tunnel that judges whether comprises:
The step that the super sonic of described ultrasonic transduter was delivered letters from the two sides of vehicle with the cycle of regulation;
Deliver letters from the two sides of described vehicle the time that moment of reflecting and collecting mail consumes by described super sonic of delivering letters, calculate the step of the distance value between the side object of described vehicle;
The comparison step of the described distance value that calculates and a reference value; And
Judge according to described comparative result whether described vehicle enters the step in tunnel.
3. the lane keeping method of use ultrasonic transduter according to claim 2 is characterized in that,
The described step of judging whether vehicle enters the tunnel is during less than described a reference value, to judge that described vehicle has entered in the described tunnel at the described distance value that calculates.
4. the lane keeping method of use ultrasonic transduter according to claim 2 is characterized in that,
After the step of the distance value between described side object of calculating vehicle, more comprise: judge whether the described distance value that calculates remains in the datum drift scope within fiducial time.
5. the lane keeping method of use ultrasonic transduter according to claim 4 is characterized in that,
Describedly judge whether vehicle enters in the step in tunnel, if when the described distance value that calculates does not keep in the datum drift scope, judge that described vehicles failed enters in the tunnel within fiducial time.
6. the lane keeping method of use ultrasonic transduter according to claim 2 is characterized in that, more comprises:
Measure the step of the brightness of described vehicle-surroundings;
The described step of judging whether vehicle enters the tunnel is to utilize the comparative result of the described distance value that calculates and a reference value and the peripheral brightness of described measurement, judges whether described vehicle enters the tunnel.
7. one kind is used the lane of ultrasonic transduter to keep ancillary system, comprising:
Image sensor section takes vehicle front and generates the place ahead image;
Lane identification judging part judges in the image of described the place ahead whether comprise described lane;
The tunnel judging part, if the judged result of described lane identification part when not comprising described lane in the image of described the place ahead, utilizes the testing result of ultrasonic transduter to judge whether to enter the tunnel;
Lane is estimated section, the judged result of described tunnel judging part, if be judged as described Vehicle Driving Cycle in the tunnel time, utilize measure by described ultrasonic transduter and tunnel-side between distance estimate distance between lane;
The control torque calculating part calculates control torque by the end value that the lane section of estimating estimates; And
The steering torque compensation section adds the steering torque of calculating in the described control torque that calculates and the column assist system, calculates the steering torque that compensates in order to control described Vehicular turn.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020110085108A KR20130022527A (en) | 2011-08-25 | 2011-08-25 | Lane keeping assist system using ultrasonic sensor and method thereof |
| KR10-2011-0085108 | 2011-08-25 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102951150A true CN102951150A (en) | 2013-03-06 |
| CN102951150B CN102951150B (en) | 2016-06-22 |
Family
ID=47760688
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210298954.6A Active CN102951150B (en) | 2011-08-25 | 2012-08-21 | The lane using ultrasonic sensor keeps aid system and method thereof |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR20130022527A (en) |
| CN (1) | CN102951150B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109353339A (en) * | 2018-09-29 | 2019-02-19 | 中国铁建重工集团有限公司 | A kind of automobile navigation method and system |
| CN110861643A (en) * | 2019-10-18 | 2020-03-06 | 中国第一汽车股份有限公司 | Unmanned vehicle one-way tunnel passing method and unmanned vehicle |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101632179B1 (en) * | 2013-12-24 | 2016-07-01 | 엘지전자 주식회사 | Driver assistance apparatus and Vehicle including the same |
| KR102628125B1 (en) * | 2019-06-28 | 2024-01-23 | 남양넥스모 주식회사 | Rack force compensation logic and method in sbw system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH09205645A (en) * | 1996-01-29 | 1997-08-05 | Fujitsu Ten Ltd | Device for recognizing environment in forward direction |
| JP2004230963A (en) * | 2003-01-29 | 2004-08-19 | Calsonic Kansei Corp | Tunnel detecting method for vehicle, tunnel detecting device for vehicle, and vehicle controller using tunnel detecting device |
| CN101403622A (en) * | 2008-11-10 | 2009-04-08 | 徐菲 | Implementing ultrasonic wave positioning, navigation and ultrasonic wave loudspeaker of running vehicle |
| CN101482415A (en) * | 2008-01-09 | 2009-07-15 | 中华联合多频道股份有限公司 | Intelligent station name reporting method |
| CN101837780A (en) * | 2009-03-18 | 2010-09-22 | 现代自动车株式会社 | A lane departure warning system using a virtual lane and a system according to the same |
-
2011
- 2011-08-25 KR KR1020110085108A patent/KR20130022527A/en not_active Application Discontinuation
-
2012
- 2012-08-21 CN CN201210298954.6A patent/CN102951150B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09205645A (en) * | 1996-01-29 | 1997-08-05 | Fujitsu Ten Ltd | Device for recognizing environment in forward direction |
| JP2004230963A (en) * | 2003-01-29 | 2004-08-19 | Calsonic Kansei Corp | Tunnel detecting method for vehicle, tunnel detecting device for vehicle, and vehicle controller using tunnel detecting device |
| CN101482415A (en) * | 2008-01-09 | 2009-07-15 | 中华联合多频道股份有限公司 | Intelligent station name reporting method |
| CN101403622A (en) * | 2008-11-10 | 2009-04-08 | 徐菲 | Implementing ultrasonic wave positioning, navigation and ultrasonic wave loudspeaker of running vehicle |
| CN101837780A (en) * | 2009-03-18 | 2010-09-22 | 现代自动车株式会社 | A lane departure warning system using a virtual lane and a system according to the same |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109353339A (en) * | 2018-09-29 | 2019-02-19 | 中国铁建重工集团有限公司 | A kind of automobile navigation method and system |
| CN110861643A (en) * | 2019-10-18 | 2020-03-06 | 中国第一汽车股份有限公司 | Unmanned vehicle one-way tunnel passing method and unmanned vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20130022527A (en) | 2013-03-07 |
| CN102951150B (en) | 2016-06-22 |
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